8.12 Additional Adjustment Functions
8.12.1 Gain Switching
8-66
8.12
Additional Adjustment Functions
This section describes the functions that you can use to make adjustments after you perform
autotuning without a host reference, autotuning with a host reference, and custom tuning.
*
Automatic gain switching is enabled only for position control.
8.12.1
Gain Switching
Two gain switching functions are available, manual selection and automatic switching. The
manual switching function uses an external input signal to select the gains, and the automatic
switching function changes the gains automatically.
You can use gain switching to shorten the positioning time by increasing the gains during posi-
tioning and suppressing vibration by decreasing the gains while stopping.
Note: Pn139 = n.
1 is a reserved setting. Do not use this setting.
Refer to the following section for gain switching combinations.
Refer to the following sections for information on manual and automatic gain switching.
on page 8-67 and
Gain Switching Combinations
*
Gain switching for the model following control gain and the model following control gain correction is applicable
only to manual gain switching.
To enable gain switching with these parameters, a gain switching input signal must be used and the following con-
ditions must be met. If the conditions are not met, these parameters will not be changed even if the other param-
eters in the above table are changed.
•
There must be no reference.
•
The motor must be stopped.
Function
Applicable Control Methods
Reference
Gain Switching
Position control, speed control, or torque control
*
Friction Compensation
Position control or speed control
Current Control Mode Selection
Position control, speed control, or torque control
Current Gain Level Setting
Position control or speed control
Speed Detection Method Selection Position control, speed control, or torque control
Backlash Compensation Position
Control
Parameter
Function
When Enabled
Classification
Pn139
n.
0
(default setting)
Use manual gain switching.
Immediately Tuning
n.
2
Use automatic gain switching pattern 1.
Selected
Gains
Speed
Loop
Gain
Speed Loop
Integral Time
Constant
Position
Loop Gain
Torque Refer-
ence Filter
Model Fol-
lowing Con-
trol Gain
Model Follow-
ing Control
Correction
Friction
Compensa-
tion Gain
Gain Set-
tings 1
Speed
Loop
Gain
(Pn100)
Speed Loop
Integral Time
Constant
(Pn101)
Position
Loop Gain
(Pn102)
First Stage
First Torque
Reference Fil-
ter Time Con-
stant (Pn401)
Model Fol-
lowing Con-
trol Gain
*
(Pn141)
Model Follow-
ing Control
Correction
*
(Pn142)
Friction
Compensa-
tion Gain
(Pn121)
Gain Set-
tings 2
Second
Speed
Loop
Gain
(Pn104)
Second
Speed Loop
Integral Time
Constant
(Pn105)
Second
Position
Loop Gain
(Pn106)
First Stage
Second
Torque Refer-
ence Filter
Time Con-
stant (Pn412)
Second
Model Fol-
lowing Con-
trol Gain
*
(Pn148)
Second Model
Following
Control Gain
Correction
*
(Pn149)
Second
Friction
Compensa-
tion Gain
(Pn122)
